本发明公开了一种无人机农药喷洒控制方法及无人机,该方法包括:S1,无人机获取目标作业区域的图像;S2,进行图像分割,在图像边缘上选取多个边界点,依次连接多个边界点以构成闭合的待喷洒区域,并获取待喷洒区域边缘像素的坐标;S3,获取无人机采集目标作业区域图像时相对于地面的实际飞行高度,并根据边缘像素坐标以及实际飞行高度,得到边缘点的实际导航坐标;S4,以无人机喷洒作业的最大宽度为宽度的矩形区域对待喷洒区域进行划分得到若干待喷洒子区域,规划导航路线;S5,根据导航线路为待喷洒区域的对象喷洒农药,实时获取无人机位置信息,根据位置信息确定无人机所处的待喷洒子区域,从而控制相应的液泵进行喷洒。
The invention discloses an unmanned aerial vehicle pesticide spraying control method and an unmanned aerial vehicle. The unmanned aerial vehicle pesticide spraying control method comprises the steps of: S1, acquiring an image of a target operation region by using the unmanned aerial vehicle; S2, performing image segmentation, selecting a plurality of boundary points on the edge of the image, sequentially connecting the plurality of boundary points to form a closed to-be-sprayed region , and acquiring coordinates of edge pixels of the to-be-sprayed region ; S3, acquiring the actual flight height of the unmanned aerial vehicle relative to the ground when the unmanned aerial vehicle collects the target operation region image, and acquiring the actual navigation coordinates of the edge pointsaccording to the edge pixel coordinates and the actual flight height; S4, dividing the to-be-sprayed region into a plurality of to-be-sprayed sub-regions by using the rectangular region with the maximum width of the spraying operation of the unmanned aerial vehicle as the width, and planning a navigation route; and S5, spraying pesticide to the object in the to-be-sprayed region according to the navigation route, acquiring the position information of the unmanned aerial vehicle in real time, and determining the to-be-sprayed sub-region where the unmanned aerial vehicle is located according tothe position information, thereby controlling the corresponding liquid pump to spray.
一种无人机农药喷洒控制方法及无人机
2023-08-18
Patent
Electronic Resource
Chinese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / A01G Gartenbau , HORTICULTURE / A01M Tierfang, Tierfallen oder Abschreckvorrichtungen für Tiere , CATCHING, TRAPPING OR SCARING OF ANIMALS / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / B64U |